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Merge branch 'gz-math7' into scpeters/tutorial_install_macos_binary
2 parents 17218f4 + 860c546 commit e8964ea

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Lines changed: 205 additions & 203 deletions

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‎CMakeLists.txt‎

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Original file line numberDiff line numberDiff line change
@@ -17,7 +17,7 @@ find_package(gz-cmake3 REQUIRED)
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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20-
gz_configure_project(VERSION_SUFFIX pre1)
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gz_configure_project(VERSION_SUFFIX pre2)
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#============================================================================
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# Set project-specific options

‎Migration.md‎

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@@ -19,6 +19,8 @@ release will remove the deprecated code.
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* CMake `-config` files
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* Paths that depend on the project name
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1. Python library imports such `import ignition.math` and `from ignition import math` should be replaced with `import gz.math7` and `from gz import math7`. Note the change from `ignition` to `gz` and the addition of the major version number as a suffix to the package name.
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### Deprecations
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1. **Angle.hh**
@@ -89,7 +91,6 @@ release will remove the deprecated code.
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1. `IGN_MASSMATRIX3_DEFAULT_TOLERANCE`
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1. All `IGN_*_SIZE_T` variables are deprecated and will be removed in future versions.
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Please use `GZ_*_SIZE_T` instead.
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1. Python library `ignition` namespaces should be replaced with `gz`.
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### Modifications

‎examples/angle_example.py‎

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@@ -21,12 +21,12 @@
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# $ export PYTHONPATH=/usr/lib/python:$PYTHONPATH
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#
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24-
import gz.math
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import gz.math7
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26-
print("PI in degrees = {}\n".format(gz.math.Angle.PI.degree()))
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print("PI in degrees = {}\n".format(gz.math7.Angle.PI.degree()))
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28-
a1 = gz.math.Angle(1.5707)
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a2 = gz.math.Angle(0.7854)
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a1 = gz.math7.Angle(1.5707)
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a2 = gz.math7.Angle(0.7854)
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print("a1 = {} radians, {} degrees\n".format(a1.radian(), a1.degree()))
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print("a2 = {} radians, {} degrees\n".format(a2.radian(), a2.degree()))
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print("a1 * a2 = {} radians, {} degrees\n".format((a1 * a2).radian(),
@@ -36,7 +36,7 @@
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print("a1 - a2 = {} radians, {} degrees\n".format((a1 - a2).radian(),
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(a1 - a2).degree()))
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39-
a3 = gz.math.Angle(15.707)
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a3 = gz.math7.Angle(15.707)
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print("a3 = {} radians, {} degrees\n".format(a3.radian(), a3.degree()))
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a3.normalize()
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print("a3.Normalize = {} radians, {} degrees\n".format(a3.radian(),

‎examples/diff_drive_odometry.py‎

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Original file line numberDiff line numberDiff line change
@@ -23,7 +23,7 @@
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import datetime
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import math
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26-
from gz.math import Angle, DiffDriveOdometry
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from gz.math7 import Angle, DiffDriveOdometry
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odom = DiffDriveOdometry()
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‎examples/gauss_markov_process_example.py‎

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@@ -26,7 +26,7 @@
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# 2. Use gnuplot to create a plot:
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# gnuplot -e 'set terminal jpeg; plot "plot.data" with lines' > out.jpg
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import datetime
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from gz.math import GaussMarkovProcess
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from gz.math7 import GaussMarkovProcess
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# Create the process with:
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# * Start value of 20.2

‎examples/kmeans.py‎

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@@ -13,7 +13,7 @@
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# limitations under the License.
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from gz.math import Kmeans, Vector3d
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from gz.math7 import Kmeans, Vector3d
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# Create some observations.
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obs = list([])

‎examples/rand_example.py‎

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@@ -22,7 +22,7 @@
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# 2. Use gnuplot to create a plot:
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# gnuplot -c rand_view_normal.gp > normal.jpg
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# gnuplot -c rand_view_uniform.gp > uniform.jpg
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from gz.math import Rand
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from gz.math7 import Rand
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import sys
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if (len(sys.argv) < 2):

‎examples/vector2_example.py‎

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@@ -20,11 +20,11 @@
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#
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# $ export PYTHONPATH=/usr/lib/python:$PYTHONPATH
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#
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import gz.math
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import gz.math7
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25-
va = gz.math.Vector2d(1, 2)
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vb = gz.math.Vector2d(3, 4)
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vc = gz.math.Vector2d(vb)
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va = gz.math7.Vector2d(1, 2)
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vb = gz.math7.Vector2d(3, 4)
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vc = gz.math7.Vector2d(vb)
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print("va = {} {}\n".format(va.x(), va.y()))
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print("vb = {} {}\n".format(vb.x(), vb.y()))

‎examples/vector3_example.py‎

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Original file line numberDiff line numberDiff line change
@@ -20,12 +20,12 @@
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#
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# $ export PYTHONPATH=/usr/lib/python:$PYTHONPATH
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#
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import gz.math
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import gz.math7
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25-
v1 = gz.math.Vector3d(0, 0, 3)
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v1 = gz.math7.Vector3d(0, 0, 3)
2626
print("v =: {} {} {}\n".format(v1.x(), v1.y(), v1.z()))
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28-
v2 = gz.math.Vector3d(4, 0, 0)
28+
v2 = gz.math7.Vector3d(4, 0, 0)
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print("v2 = {} {} {}\n".format(v2.x(), v2.y(), v2.z()))
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v3 = v1 + v2

‎src/python_pybind11/CMakeLists.txt‎

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Original file line numberDiff line numberDiff line change
@@ -6,8 +6,9 @@ if(WIN32 AND CMAKE_BUILD_TYPE STREQUAL "Debug")
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endif()
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message(STATUS "Building pybind11 interfaces")
9+
set(BINDINGS_MODULE_NAME "math${PROJECT_VERSION_MAJOR}")
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# Split from main extension and converted to pybind11
10-
pybind11_add_module(math MODULE
11+
pybind11_add_module(${BINDINGS_MODULE_NAME} MODULE
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src/_gz_math_pybind11.cc
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src/Angle.cc
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src/AxisAlignedBox.cc
@@ -51,21 +52,24 @@ pybind11_add_module(math MODULE
5152
src/Vector3Stats.cc
5253
)
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54-
target_link_libraries(math PRIVATE
55+
target_link_libraries(${BINDINGS_MODULE_NAME} PRIVATE
5556
${PROJECT_LIBRARY_TARGET_NAME}
5657
)
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59+
target_compile_definitions(${BINDINGS_MODULE_NAME} PRIVATE
60+
BINDINGS_MODULE_NAME=${BINDINGS_MODULE_NAME})
61+
5862
if ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
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# Workaround for Clang and pybind11 on Focal
6064
# https://github.com/pybind/pybind11/issues/1604
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# Resolved by newer versions of pybind11
6266
if(${pybind11_VERSION} VERSION_LESS "2.4.4")
63-
target_compile_options(math PRIVATE -fsized-deallocation)
67+
target_compile_options(${BINDINGS_MODULE_NAME} PRIVATE -fsized-deallocation)
6468
endif()
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6670
# Suppress warnings that clang misidentifies:
6771
# https://github.com/pybind/pybind11/issues/1893
68-
target_compile_options(math PRIVATE -Wno-self-assign-overloaded)
72+
target_compile_options(${BINDINGS_MODULE_NAME} PRIVATE -Wno-self-assign-overloaded)
6973
endif()
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7175
if(USE_SYSTEM_PATHS_FOR_PYTHON_INSTALLATION)
@@ -107,31 +111,9 @@ function(configure_build_install_location _library_name)
107111
install(TARGETS ${_library_name}
108112
DESTINATION "${GZ_PYTHON_INSTALL_PATH}/"
109113
)
110-
111-
# TODO(CH3): Deprecated. Remove on tock.
112-
# Install Python library symlinks
113-
if(${GZ_PYTHON_INSTALL_PATH} MATCHES "gz$")
114-
cmake_policy(SET CMP0087 NEW) # Allow evaluation of generator expressions in install(CODE )
115-
file(MAKE_DIRECTORY "${PROJECT_BINARY_DIR}/ignition")
116-
117-
string(REGEX REPLACE "gz$" "ignition" IGN_PYTHON_INSTALL_PATH ${GZ_PYTHON_INSTALL_PATH})
118-
if (WIN32) # Windows requires copy instead of symlink
119-
install(TARGETS ${_library_name}
120-
DESTINATION "${IGN_PYTHON_INSTALL_PATH}/"
121-
)
122-
else()
123-
install(CODE "execute_process(COMMAND ${CMAKE_COMMAND} -E create_symlink \
124-
../gz/$<TARGET_FILE_NAME:${_library_name}> \
125-
${PROJECT_BINARY_DIR}\/ignition/$<TARGET_FILE_NAME:${_library_name}>)")
126-
install(FILES ${PROJECT_BINARY_DIR}\/ignition/$<TARGET_FILE_NAME:${_library_name}>
127-
DESTINATION "${IGN_PYTHON_INSTALL_PATH}/"
128-
)
129-
endif()
130-
endif()
131-
132114
endfunction()
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134-
configure_build_install_location(math)
116+
configure_build_install_location(${BINDINGS_MODULE_NAME})
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136118
if (BUILD_TESTING)
137119
# Add the Python tests

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